allegro hand user's manual -...

Allegro Hand User's Manual

Copyright © 2008-2012 SimLab Co., Ltd.

Hyobong8 Bldg 2nd Fl, 1425-9 Seocho-Dong, Seocho-Gu,

Seoul 137-864, Korea

A L L E G R O H A N D U S E R S M A N U A L

Allegro, the Allegro logo and all related files and documentation are Copyright © 2008-2012 by SimLab Co., Ltd. All rights reserved. Allegro, Allegro Hand, Allegro Application Studio for Allegro Hand, Allegro Hand Application Studio, and RoboticsLab are trademarks of SimLab Co., Ltd. All other trademarks or registered trademarks mentioned are the property of their respective owners.


Copyright 2008-2012 SimLab Co., Ltd. All rights reserved. i

Copyright & Trademark Notice ................................................................................................................. i

Quick Start Guide .................................................................................................................................... 1

In The Box ........................................................................................................................................ 1

Power Supply ................................................................................................................................... 1

Read these Sections First ................................................................................................................ 1

Allegro Hand Overview ........................................................................................................................... 2

Features ........................................................................................................................................... 2

Technical Specifications .......................................................................................................................... 3

System Requirements ............................................................................................................................. 4

Products .................................................................................................................................................. 4

Installing Allegro Hand Application Studio (AHAS) ................................................................................. 5

AHAS Installation ............................................................................................................................. 5

VC++ Redistributable ..................................................................................................................... 10

USB License Dongle Driver ........................................................................................................... 10

Finishing Installation ...................................................................................................................... 11

AHAS License Registration ........................................................................................................... 11

CAN Driver Installation................................................................................................................... 12

NI USB-8473s CAN ................................................................................................................ 12

Softing CAN-AC2-PCI............................................................................................................. 12

Kvaser PCIcan 4xHS .............................................................................................................. 12

ESD CAN-PCI/266 .................................................................................................................. 12


Copyright 2008-2012 SimLab Co., Ltd. All rights reserved. ii

Using Allegro Hand Application Studio (AHAS) .................................................................................... 13

Running AHAS ............................................................................................................................... 13

Which Hand? ................................................................................................................................. 13

Virtual ...................................................................................................................................... 13

Actual ...................................................................................................................................... 13

Virtual Hand Simulation ................................................................................................................. 14

Home ...................................................................................................................................... 15

Ready ..................................................................................................................................... 15

Grasp 3 ................................................................................................................................... 15

Grasp 4 ................................................................................................................................... 15

Pinching (I) .............................................................................................................................. 15

Pinching (M) ............................................................................................................................ 15

Envelop ................................................................................................................................... 15

Test Encoders (actual hand only) ........................................................................................... 15

Test Motors (actual hand only) ............................................................................................... 15

Sliders ..................................................................................................................................... 16

Actual Hand ................................................................................................................................... 17

Wiring ...................................................................................................................................... 17

Power ...................................................................................................................................... 17

AHAS ............................................................................................................................................. 18

Quitting ........................................................................................................................................... 18

Joint Dimensions ................................................................................................................................... 19

Joint Directions ...................................................................................................................................... 20

Right Hand ..................................................................................................................................... 20

Left Hand ....................................................................................................................................... 20


Copyright 2008-2012 SimLab Co., Ltd. All rights reserved. iii

Mounting the Allegro Hand.................................................................................................................... 21

Mounting Block Removal ............................................................................................................... 21

Mounting ........................................................................................................................................ 23

Reassembly ................................................................................................................................... 23

Mount Block Dimensions ............................................................................................................... 24

CAN Protocol ........................................................................................................................................ 25

Baud-Rate ...................................................................................................................................... 25

Non-Periodic Communication ........................................................................................................ 25

Periodic Communication ................................................................................................................ 25

CAN Frames ......................................................................................................................................... 25

Standard CAN Packet .................................................................................................................... 25

ID (Message Identifier)................................................................................................................... 26

Command Identifiers ...................................................................................................................... 26

Source and Destination Identifiers ................................................................................................. 26

Case-study: Softing CAN ...................................................................................................................... 27

Opening the CAN Communication Channel .................................................................................. 27

CAN Initialization ............................................................................................................................ 28

Starting Periodic CAN Communication .......................................................................................... 28

Stopping Periodic CAN Communication ........................................................................................ 28

Transmitting Control Torques ........................................................................................................ 29

Receiving Joint Angles................................................................................................................... 30

Technical Support ................................................................................................................................. 31


Copyright 2008-2012 SimLab Co., Ltd. All rights reserved. 1

In The Box Included are the software and hardware necessary to get you started.

1. Allegro Hand

2. Allegro Hand Application Studio

2.1 Installation CD

2.2 USB License Dongle

3. 2mm Hex Wrench

4. Connectors

4.1 4-pin wired male connector (power/CAN) qty 1 Note: Only hand end of wire is terminated.

CAN end must be terminated by the user.

4.2 4-pin male connector body qty 1

4.3 Wire terminals (for use with connector) qty 4

4.4 M2x5mm socket-head cap screws (extra) qty 2

Power Supply Power provided to the Allegro Hand must meet the following specifications:

Voltage: 7.4VDC (7.0V - 8.1V)

Amperage: 5A (minimum)

Read these Sections First 1. Installing Allegro Hand Application Studio (AHAS)

2. Using Allegro Hand Application Studio

Wiki for Users All information provided in this user's manual along with a forum and tutorials is available at simlab.co.kr/AllegroHand/wiki

Note: The names Allegro Application Studio for Allegro Hand and Allegro Hand Application Studio

both refer to the software included with the Allegro Hand



Allegro Hand is a low-cost and highly adaptive robotic hand.

With four fingers and sixteen independent current-controlled joints,

it's the perfect platform for grasp and manipulation research.

Features Lightweight and portable anthropomorphic design

Low-cost dexterous manipulation with applications in research and industry

Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object

geometries

Capable of holding up to 1.5kg

16 independent current-controlled joints (4 fingers x 4 DOF ea.)

Allegro Hand Application Studio integration allows for simulation based algorithm prototyping

without ever changing your code

Support for real-time control and online simulation



Number of Fingers Three (3) fingers and a thumb (1) = 4

Degrees of Freedom 4 fingers x 4 = 16 (Active)

Actuation

Type DC Motor

Gear Ratio 1:369

Max. Torque 0.70 (Nm)

Overdrive Torque 0.90 (kg)

Weight

Finger 0.17 (kg)

Thumb 0.19 (kg)

Total 0.90 (kg)

Joint Resolution Measurement Potentiometer

Resolution (nominal) 0.002 (deg)

Communication Type CAN

Frequency 333 (Hz)



CPU Intel® Core™2 Duo or higher

RAM at least 2GB

HDD at least 2GB

Graphics OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM

OS

MS Windows® XP,

MS Windows® Vista,0.19

MS Windows® 7

Additional S/W MS Visual Studio®

Communication NI, Softing, Kvaser or ESD CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand.

The Allegro Hand comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics

software for developing and testing control algorithms for a variety of commercial robots. AAS for the

Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab.

Algorithms developed can be applied to the virtual hand as well as directly to the real hand without

any changes to the code.

For more information, please visit our Allegro Application Studio website: www.simlab.co.kr/Allegro-Application-Studio.htm

Paired with our RoboticsLab development environment, the user can take full advantage of robust

dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also

enables users to easily model custom robots and test environments in 3D and add built-in and custom

sensors, actuators and other devices. RoboticsLab provides the flexibility necessary to prototype and

test control algorithms for any system.

For more information, please visit our RoboticsLab website: www.simlab.co.kr/RoboticsLab.htm



Allegro Hand Application Studio (AHAS) for the Allegro Hand comes as a packaged installer (CD

ROM included) for easy installation. This setup tutorial will guide you through the steps necessary to

get your Allegro Hand up and running for the first time.

Insert the CD into your Windows computer to install AHAS. If the installer does not start automatically,

please navigate to the installer CD to locate the AHAS setup program.

Start Menu > Computer > CD/DVD Drive > setup_AllegroHand.exe

AHAS Installation Upon beginning the installer, you will be greeted with the Allegro Hand Application Studio (AHAS)

welcome screen. At this point, if you have any other programs running, please exit the AHAS installer,

close all other programs, then restart the installation process. Click Next when you are ready to

continue.



Please fully read the RoboticsLab/Allegro Hand Application Studio License Agreement then, if you

agree, select that option and click Next.

On the next page, you will be prompted to enter the names of yourself and your organization. Please

do so then click Next.



Next, you will be prompted to select AHAS' installation path. You can leave it as default, or, if you

already have RoboticsLab installed, you can install within the RoboticsLab's installation directory.

Please choose any path you'd like then click Next.

Note: The default path is Program Files\SimLab\Allegro Hand Application Studio

Next, select whether you want shortcuts installed for just you or every user of the computer. Shortcuts

will be placed on the desktop and in the Start Menu.



The next screen allows you to customize your installation. It is recommended that you install all

components unless already installed. The third party software included with AHAS includes a Visual

C++ (VC++) redistributable package and the Sentinel USB dongle driver. If you have RoboticsLab

installed, both the VC++ package and the USB dongle driver are likely to have already been installed.

If you do not uncheck these options on this configuration screen, you will be given the opportunity on

the following two screens of the AHAS installer.

If you are unsure whether or not you have the USB dongle driver installed, please leave this option

checked as it is required to run AHAS.



If you are unsure whether or not you have the VC++ redistributable package installed, please leave

this option checked as it is required to run AHAS.

The next screen provides an overview of the software to be installed. This is your last chance to go

back and change any information or quit the installer. Pressing Next will begin the installation.



VC++ Redistributable After the installation of Allegro Hand Application Studio is finished, please proceed to install the Visual

C++ (VC++) redistributable package. The installation of this software is necessary to run AHAS.

Note: If you already have VC++ installed and are asked to repair or uninstall, choose Repair.

USB License Dongle Driver After the installation of VC++ is finished, please proceed to install the Sentinel USB dongle driver. The

installation of this software is necessary to run AHAS.



Finishing Installation Once installation has finished, you will be prompted to reboot your computer. Please save any

unsaved work and reboot.

AHAS License Registration Please insert the USB license dongle included with Allegro Hand Application Studio.

Once inserted into a working USB port, navigate to the newly installed rLicense Manager application

to install the USB device.

Start Menu > All Programs > Allegro Hand Application Studio > Tools > rLicense Manager

Clicking this application should install the USB device.

You should now install your CAN interface hardware and driver.



CAN Driver Installation Your CAN interface, either PCI (Softing, ESD, Kvaser) or USB (NI), should be installed or plugged in

to you computer before installing the proper drivers.

CAN Hardware drivers, if not included with the hardware, can be downloaded from the respective

manufacturer's website. For the four CAN interfaces available through SimLab, product drivers and

documentation are available at the following websites.

Note: After installation, check in Start Menu > Control Panel > Device Manager to make sure that a

driver has installed successfully.

NI USB-8473s CAN

Product Page: sine.ni.com/nips/cds/view/p/lang/en/nid/203385

Driver Page: joule.ni.com/nidu/cds/view/p/id/3152/lang/en

Softing CAN-AC2-PCI

Product Page: http://www.softing.com/home/en/automotive-electronics/products/can-bus/interface- cards/can/pci-2.php

Driver Page: http://industrial.softing.com/en/products/functionality/interface-cards-gateways/pci- interface-cards/can/can-dual-channel-pci-interface-card.html

Click "Downloads"

Kvaser PCIcan 4xHS

Product Page: http://www.kvaser.com/index.php?option=com_php&Itemid=261&eaninput= 7330130000841&lang=en&product=Kvaser%20PCIcan%204xHS

Driver Page: http://www.kvaser.com/index.php?option=com_php&Itemid=261&eaninput= 7330130000841&lang=en&product=Kvaser%20PCIcan%204xHS

Click "Downloads"

ESD CAN-PCI/266

Product Page: http://www.esd-electronics-usa.com/CAN-CANopen-J1939-66-MHZ-PC-Board-PCI- 2.2-1-OR-2-CAN-Interface-CAN-PCI/266.html

Driver Page: http://esd.eu/en/products/can-pci266

Note: You may be required to reboot after your CAN driver installation.



If you have not yet installed Allegro Hand Application Studio (AHAS) or your CAN interface and driver,

please see the Installing Allegro Hand Application Studio section before reading this one.

Running AHAS

When installing Allegro Hand Application Studio (AHAS), you were prompted to select an installation

path where all files associated with AHAS would be stored. This installation path will be referred to

as [installPath] from here on out.

Within the installation directory (at the top level), you will find a file titled Allegro.exe. Also, a shortcut

to this executable should have been placed on your desktop during installation. Double-

click Allegro.exe to launch AHAS for the Allegro Hand.

Which Hand? When you first run Allegro Hand Application Studio (AHAS), you are prompted to select the hand

(right/left/actual/virtual) you would like to use.

Virtual

If a virtual system is selected, a dynamic simulation is run using the Allegro Hand virtual model. This

simulation includes full physics simulation including contact dynamics. The virtual system can be

simulated without the actual system. This ability is useful for testing algorithms in a dynamics

environment before trying them out of the actual hardware.

Actual

An Actual system refers to the Allegro Hand hardware. If an actual system is selected, AHAS will load

the corresponding (left/right) virtual model and open CAN communication with the actual Allegro Hand.

The virtual Allegro Hand seen along with the Actual System simply mimics the joint kinematics (no

physics or contact dynamics) of the actual system based on the encoder values obtained over CAN.

Motion commands from AHAS are send directly to the actual system while the encoder feedback

controls the AHAS virtual hand.



Virtual Hand Simulation

First, we will select the Virtual Left Hand system and click Finish to start the simulation.

Selecting either virtual hand system at the Allegro Hand Application Studio (AHAS) hand selection

prompt will load the AHAS dynamics simulation environment and a virtual hand model. The simulation

begins running as soon as the AHAS simulation window is loaded.

Note: If presented with a Windows Firewall Security Alert, click "Allow access" to run AHAS.

AHAS is provided along with the Allegro Hand for two main purposes. AHAS allows for ease of testing

CAN communication between your PC and the Allegro Hand hardware. Secondly, AHAS provides

several robust grasping algorithms for use with the Allegro Hand. The algorithms provided with AHAS

can grasp a variety of object geometries for demonstration or for use at the end of a manipulator.

The grasping algorithms provided with AHAS can be explored via the graphical user interface (GUI)

buttons at the top-left of the AHAS simulation window. Clicking these buttons will send a command to

the virtual CAN device on the virtual Allegro Hand model.



Home

Let's start by clicking the button entitled Home. The position assumed by the Allegro Hand is a

starting position that ensures that all joints are oriented properly for executing a grasp.

Ready

Click the button entitled Ready to prepare for each type of grasping motion.

Note: For the virtual hand, you will notice the finger joints sagging if left in ready mode too long. As the finger tip locations are

controlled, all joint angles do not necessarily matter. Due to the lack of friction found in the actual system, the ready position

does not remain constant. In this case, simply push Home then Ready again to prepare for a grasp.

Grasp 3

Click the buttons entitled Home then Ready to prepare the hand for a grasp.

Now click the button entitled GRASP3. This grasping algorithm is a torque-controlled, three-fingered

grip. This grasp can be used for pick-and-place style object grasping as the object is held between the

tips of the thumb, index and middle fingers.

Grasp 4

Click the buttons entitled Home then Ready to prepare the hand for another type of grasp.

Click the button entitled GRASP4. This grasping algorithm is a torque-controlled, four-fingered grip.

This grasp can be used for pick-and-place style object grasping as the object is held between the tips

of the thumb and three fingers.

Pinching (I)


Click the button entitled Pinching (I). This grasping algorithm is a torque-controlled, two-fingered pinch.

This grasp can be used for pick-and-place style object grasping and more dexterous manipulation as

the object is held between the tips of the thumb and the index finger.

Pinching (M)


Click the button entitled Pinching (M). This grasping algorithm is a torque-controlled, two-fingered

pinch. This grasp can be used for pick-and-place style object grasping and more dexterous

manipulation as the object is held between the tips of the thumb and the middle finger.

Envelop


Click the button entitled Envelop. This grasping algorithm can be used to fully envelop an object within

the hand's four fingers. This algorithm can handle a variety of object geometries.

Test Encoders (actual hand only)

This button is only used when zeroing the hand joints. Pressing this button will print out the current

raw encoder data. (Only available in actual hand AHAS)

Test Motors (actual hand only)

This button is only when checking the positive direction of each motor. Pressing this button multiple

times will send a positive torque value to each motor in succession. (Only available in actual hand

AHAS)



Sliders

The sliders at the bottom of the AHAS simulation window provide a secondary form of visual feedback

for the sixteen joints of the hand. Each column represents a finger with link 1 being the yaw joint

attached to the palm and link 4 being the last joint at the end of each finger.



Actual Hand

Wiring

On the back of the Allegro Hand, you will see two connectors labeled J1 and J5. While these ports are

identical in that they both offer CAN and power connections, J5 offers a switch making it favorable for

power. CAN_H and CAN_L get plugged into ports 1 and 2, respectively and power VCC and GND get

plugged into ports 3 and 4, respectively, on port J5.

On the connector provided with the Allegro Hand, the wires are color coded such that power ground

and voltage are a standard black and red, respectively, and CAN-Low and CAN-High are green and

yellow, respectively.

Power

The Allegro Hand must be powered by 7.4VDC (7.0 - 8.1 VDC) and at least 5 Amps. If a minimum of

5A is not provided, the motors will brown-out during grasping.

Once the power supply is on at the rated values, the power switch on the back of the Allegro Hand

can be switched on (upward towards the fingers) to provide power to the hand.



AHAS With the hand powered on and the CAN connected, it is finally time to run Allegro Hand Application

Studio.

A virtual Allegro Hand, left or right, can be loaded by clicking New in the File drop-down menu (File >

New) or by quitting and reopening Allegro Hand Application Studio.

Again, you will presented with the AHAS hand selection window. This time we will select the Actual

Left Hand System (or a right hand if that's what you have) and click Next to select the type of CAN

interface you are using. Click Finish to start AHAS.

Note: If you have a right hand, proceed accordingly.

While the CAN communication is established at start-up, the motors must be turned on using the On

button before commands can be sent and encoder values received.

Note: You should always straighten out all of the fingers before running Allegro Hand Application

Studio or any other hand control application (think High-Five). This habit poses the fingers as far away

as possible from any collision that could occur in the event of unexpected motion. This pose also

increases the reliability of the encoders in finding the hand's initial position.

Once the On button is pressed, the AHAS hand model is updated to reflect the actual Allegro Hand.

Move the fingers around a bit manually to make sure the communication is, in fact, established.

For the actual hand, the same grasping algorithms can be executed via the GUI interface. You can

use the hand to manipulate reasonably sized objects of many shapes. The virtual hand will continue

to reflect any motion the actual hand makes.

Quitting You can quit Allegro Hand Application Studio in two ways. First, you can quit by clicking Exit in

the File drop-down menu (File > Exit). You can also quit by click the X button to the right of the AHAS

window's title bar.



All dimensions are displayed in millimeters (mm) and degrees.



Right Hand

Left Hand



All dimensions are displayed in millimeters (mm) and degrees.

Mounting Block Removal The mounting block is connected to the Allegro Hand using twelve (12) M2 socket-head cap screws

(6 on each side).



Remove six (6) screws on either side of the hand.

DO NOT remove the two (2) screws labeled A or the corresponding screws on the other side of the

hand.

Note: Secure the hand while unscrewing the mounting block to avoid dropping the hand once

disconnected.

Once the twelve (12) screws have been removed, the mounting block can be removed from the

bottom of the hand.



Mounting The block can be mounted to a surface using two (2) M3 socket-head cap screws.

Note: The hand should be mounted to a raised area so as to avoid thumb-mount interference during

hand movement.

Reassembly Place the hand onto the mounting block and replace the twelve (12) M2 socket-head cap screws (6 on each side).



Mount Block Dimensions The relevant dimensions of the mounting block are presented in millimeters (mm).



Baud-Rate The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication Messages can be sent to initialize or stop CAN communication.

Periodic Communication The Allegro Hand control software attempts to communicate with the real or simulated hand at a

regular control interval. Every 3 milliseconds, the joint torques are calculated and the joint angles are

updated.

Standard CAN Packet The standard CAN packet used for communication contains 8 bytes.

Code 1: CAN Packet Structure

typedef struct{

unsigned char STD_EXT;

unsigned long msg_id; //message identifier

unsigned char data_length; //

char data[8]; // data array

} can_msg;



ID (Message Identifier) The 4 byte integer CAN message is split into the command ID (26 bits), destination ID (3bits) and

source ID (3 bits).

Table 1: CAN Message Identifiers

1 8 16 24 26 27 29 30 32

Command ID DSTN. ID Source ID

Command Identifiers Table 2: CAN Message Command Identifiers

Variable name Value Description Source Destination

ID_CMD_SET_SYSTEM_ON 0x01 Start periodic communication ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_SYSTEM_OFF 0x02 Stop periodic communication ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_PERIOD 0x03 Set communication frequency ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_MODE_JOINT 0x04 Command Transmission Mode ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_MODE_TASK 0x05 Command Transmission Mode ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_TORQUE_1 0x06 Index finger (1) torque command ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_TORQUE_2 0x07 Middle finger (2) toque command ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_TORQUE_3 0x08 Pinky finger (3) torque command ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_TORQUE_4 0x09 Thumb torque command ID_DEVICE_MAIN ID_COMMON

ID_CMD_SET_POSITION_1 0x0a (unused)

ID_CMD_SET_POSITION_2 0x0b (unused)

ID_CMD_SET_POSITION_3 0x0c (unused)

ID_CMD_SET_POSITION_4 0x0d (unused)

ID_CMD_QUERY_STATE_DATA 0x0e Request joint state ID_DEVICE_MAIN ID_COMMON

ID_CMD_QUERY_STATE_DATA 0x0e Joint state response ID_DEVICE_SUB_01

ID_DEVICE_SUB_02

ID_DEVICE_SUB_03

ID_DEVICE_SUB_04

ID_DEVICE_MAIN

ID_CMD_QUERY_CONTROL_DATA 0x0f Joint state response ID_DEVICE_SUB_01

ID_DEVICE_SUB_02

ID_DEVICE_SUB_03

ID_DEVICE_SUB_04

ID_DEVICE_MAIN

Source and Destination Identifiers Table 3: Source and Destination Identifiers

Variable name Value Description

ID_COMMON 0x01 Allegro Hand

ID_DEVICE_MAIN 0x02 Control PC

ID_DEVICE_SUB_01 0x03 Index Finger

ID_DEVICE_SUB_02 0x04 Middle Finger

ID_DEVICE_SUB_03 0x05 Little Finger

ID_DEVICE_SUB_04 0x06 Thumb



In this chapter, sample code demonstrating the implementation of the CAN communication interface

is provide. This is the foundation for Softing PCI CAN.

Opening the CAN Communication Channel Code 2: Opening the CAN Communication Channel

char ch_name[256];

sprintf_s(ch_name, 256, "CAN-ACx-PCI_%d", ch);

INIL2_initialize_channel(&hCAN[ch-1], ch_name);

L2CONFIG L2Config;

L2Config.fBaudrate = 1000.0;

L2Config.bEnableAck = 0;

L2Config.bEnableErrorframe = 0;

L2Config.s32AccCodeStd = 0;

L2Config.s32AccMaskStd = 0;

L2Config.s32AccCodeXtd = 0;

L2Config.s32AccMaskXtd = 0;

L2Config.s32OutputCtrl = GET_FROM_SCIM;

L2Config.s32Prescaler = 1;

L2Config.s32Sam = 0;

L2Config.s32Sjw = 1;

L2Config.s32Tseg1 = 4;

L2Config.s32Tseg2 = 3;

L2Config.hEvent = (void*)-1;

CANL2_initialize_fifo_mode(hCAN[ch-1], &L2Config);



CAN Initialization Code 3: Opening the CAN Communication Channel

long Txid;

unsigned char data[8];

Txid = ((unsigned long)ID_CMD_SET_PERIOD<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);

data[0] = (unsigned char)period_msec;

canWrite(hCAN, Txid, data, 1, STD);

Sleep(10);

Txid = ((unsigned long)ID_CMD_SET_MODE_TASK<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);


Sleep(10);

Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);


Starting Periodic CAN Communication When you start periodic CAN communication, joint angles are automatically updated according to the

torque control input.

Code 4: Starting Periodic CAN Communication

long Txid; unsigned char data[8]; Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); canWrite(hCAN[ch-1], Txid, data, 0, STD); Sleep(10); Txid = ((unsigned long)ID_CMD_SET_SYSTEM_ON<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); canWrite(hCAN[ch-1], Txid, data, 0, STD);

Stopping Periodic CAN Communication Code 5: Stopping Periodic CAN Communication

long Txid; unsigned char data[8]; Txid = ((unsigned long)ID_CMD_SET_SYSTEM_OFF<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); canWrite(hCAN[ch-1], Txid, data, 0, STD);



Transmitting Control Torques Control inputs for the four joints in each finger should be packed in a single CAN frame. The sample

code below demonstrates how to encode four PWM inputs into an 8 byte data buffer and how to set

the CAN frame ID properly.

Code 6: Transmitting Control Torques

long Txid; unsigned char data[8]; float torque2pwm = 800.0f short pwm[4] = { 0.1*torque2pwm, 0.1*torque2pwm, 0.1*torque2pwm, 0.1*torque2pwm }; if (findex >= 0 && findex < 4) { data[0] = (unsigned char)( (pwm[0] >> 8) & 0x00ff); data[1] = (unsigned char)(pwm[0] & 0x00ff); data[2] = (unsigned char)( (pwm[1] >> 8) & 0x00ff); data[3] = (unsigned char)(pwm[1] & 0x00ff); data[4] = (unsigned char)( (pwm[2] >> 8) & 0x00ff); data[5] = (unsigned char)(pwm[2] & 0x00ff); data[6] = (unsigned char)( (pwm[3] >> 8) & 0x00ff); data[7] = (unsigned char)(pwm[3] & 0x00ff); Txid = ((unsigned long)(ID_CMD_SET_TORQUE_1 + findex)<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);

canWrite(hCAN, Txid, data, 8, STD); }



Receiving Joint Angles Each finger consists of four joints. The joint angles for those four joints can be received via one CAN

packet. The sample code below demonstrates the method for decoding the data buffer and reading

the joint angles.

The sample code assumes that when fingers are in their zero positions, the joint angles from the CAN

packet are 32768. In practice, users should perform experiments and introduce offsets to obtain the

zero position.

Code 7: Receiving Joint Angles

char cmd; char src; char des;

int len; unsigned char data[8]; int ret; can_msg msg; PARAM_STRUCT param; ret = CANL2_read_ac(hCAN, &param); switch (ret) { case CANL2_RA_DATAFRAME: msg.msg_id = param.Ident; msg.STD_EXT = STD; msg.data_length = param.DataLength; msg.data[0] = param.RCV_data[0]; msg.data[1] = param.RCV_data[1]; msg.data[2] = param.RCV_data[2]; msg.data[3] = param.RCV_data[3]; msg.data[4] = param.RCV_data[4]; msg.data[5] = param.RCV_data[5]; msg.data[6] = param.RCV_data[6]; msg.data[7] = param.RCV_data[7]; break; } cmd = (char)( (msg.msg_id >> 6) & 0x1f ); des = (char)( (msg.msg_id >> 3) & 0x07 ); src = (char)( msg.msg_id & 0x07 ); len = (int)( msg.data_length ); for(int nd=0; nd<len; nd++) data[nd] = msg.data[nd]; switch (cmd) { case ID_CMD_QUERY_CONTROL_DATA: { if (id_src >= ID_DEVICE_SUB_01 && id_src <= ID_DEVICE_SUB_04) { int temp_pos[4]; // raw angle data float ang[4]; // degree float q[4]; // radian temp_pos[0] = (int)(data[0] | (data[1] << 8)); temp_pos[1] = (int)(data[2] | (data[3] << 8)); temp_pos[2] = (int)(data[4] | (data[5] << 8)); temp_pos[3] = (int)(data[6] | (data[7] << 8)); ang[0] = ((float)(temp_pos[0]-32768)*(333.3f/65536.0f))*(1); ang[1] = ((float)(temp_pos[1]-32768)*(333.3f/65536.0f))*(1); ang[2] = ((float)(temp_pos[2]-32768)*(333.3f/65536.0f))*(1); ang[3] = ((float)(temp_pos[3]-32768)*(333.3f/65536.0f))*(1); q[0] = (3.141592f/180.0f) * ang[0]; q[1] = (3.141592f/180.0f) * ang[1]; q[2] = (3.141592f/180.0f) * ang[2]; q[3] = (3.141592f/180.0f) * ang[3]; } } }



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